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Double pendulum env 5.0 fix #652

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Double pendulum env 5.0 fix #652

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2 changes: 1 addition & 1 deletion config/double_pendulum.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ num_layers = 2

[train]
gpus = 1
total_timesteps = 50000000
total_timesteps = 200000000
learning_rate = 0.005
anneal_lr = 1
min_lr_ratio = 0
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5 changes: 1 addition & 4 deletions ocean/double_pendulum/double_pendulum.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,6 @@ struct Env {
int max_upright_steps;
int upright_count;
float best_height;
int got_upright;
int physics_failed;

float cart_mass;
Expand Down Expand Up @@ -178,7 +177,6 @@ void puf_reset(DoublePendulum* env) {
env->max_upright_steps = 0;
env->upright_count = 0;
env->best_height = 0.0f;
env->got_upright = 0;
env->physics_failed = 0;
compute_observations(env);
}
Expand Down Expand Up @@ -305,9 +303,8 @@ float height_record_reward(DoublePendulum* env) {
if (height > env->best_height && height > 0.9f) {
reward += 0.05f * (height - 0.9f) / 0.1f;
}
if (stable && !env->got_upright) {
if (stable) {
reward += 0.1f;
env->got_upright = 1;
}
env->best_height = fmaxf(env->best_height, height);
return reward;
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